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73 lines
2.7 KiB
73 lines
2.7 KiB
// David Eberly, Geometric Tools, Redmond WA 98052
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// Copyright (c) 1998-2021
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// Distributed under the Boost Software License, Version 1.0.
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// https://www.boost.org/LICENSE_1_0.txt
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// https://www.geometrictools.com/License/Boost/LICENSE_1_0.txt
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// Version: 4.0.2019.08.13
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#pragma once
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#include <Mathematics/DistPointTriangle.h>
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#include <Mathematics/Tetrahedron3.h>
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namespace gte
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{
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template <typename Real>
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class DCPQuery<Real, Vector3<Real>, Tetrahedron3<Real>>
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{
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public:
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struct Result
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{
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Real distance, sqrDistance;
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Vector3<Real> tetrahedronClosestPoint;
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};
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Result operator()(Vector3<Real> const& point, Tetrahedron3<Real> const& tetrahedron)
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{
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Result result;
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// Construct the planes for the faces of the tetrahedron. The
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// normals are outer pointing, but specified not to be unit
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// length. We only need to know sidedness of the query point,
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// so we will save cycles by not computing unit-length normals.
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Plane3<Real> planes[4];
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tetrahedron.GetPlanes(planes);
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// Determine which faces are visible to the query point. Only
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// these need to be processed by point-to-triangle distance
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// queries.
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result.sqrDistance = std::numeric_limits<Real>::max();
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result.tetrahedronClosestPoint = Vector3<Real>::Zero();
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for (int i = 0; i < 4; ++i)
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{
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if (Dot(planes[i].normal, point) >= planes[i].constant)
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{
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int indices[3] = { 0, 0, 0 };
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tetrahedron.GetFaceIndices(i, indices);
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Triangle3<Real> triangle(
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tetrahedron.v[indices[0]],
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tetrahedron.v[indices[1]],
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tetrahedron.v[indices[2]]);
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DCPQuery<Real, Vector3<Real>, Triangle3<Real>> query;
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auto ptResult = query(point, triangle);
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if (ptResult.sqrDistance < result.sqrDistance)
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{
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result.sqrDistance = ptResult.sqrDistance;
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result.tetrahedronClosestPoint = ptResult.closest;
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}
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}
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}
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if (result.sqrDistance == std::numeric_limits<Real>::max())
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{
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// The query point is inside the solid tetrahedron. Report a
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// zero distance. The closest points are identical.
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result.sqrDistance = (Real)0;
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result.tetrahedronClosestPoint = point;
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}
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result.distance = std::sqrt(result.sqrDistance);
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return result;
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}
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};
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}
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